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Dependencies:   mbed

Maze/maze_solver.h@31:f7a8a9b82bc1, 2017-05-28 (annotated)

Committer:
kolanery
Date:
Sun May 28 09:54:40 2017 +0000
Revision:
31:f7a8a9b82bc1
Parent:
30:daf286ac049f 
Update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
szh66 27:b980fce784ea 1 #include <string>
ryan_whr 25:7155cb993870 2 #include <vector>
szh66 27:b980fce784ea 3 #include <iostream>
szh66 27:b980fce784ea 4 #include <fstream>
szh66 27:b980fce784ea 5 #include "drivecontrol.h"
ryan_whr 25:7155cb993870 6
szh66 27:b980fce784ea 7 const unsigned char MAZE_SIZE = 16;
szh66 27:b980fce784ea 8 const unsigned char NORTH = 0;
szh66 27:b980fce784ea 9 const unsigned char SOUTH = 1;
szh66 27:b980fce784ea 10 const unsigned char WEST = 2;
szh66 27:b980fce784ea 11 const unsigned char EAST = 3;
ryan_whr 25:7155cb993870 12 const int MAX = 256;
ryan_whr 25:7155cb993870 13
szh66 27:b980fce784ea 14 using namespace std;
szh66 27:b980fce784ea 15
ryan_whr 25:7155cb993870 16 class Cell {
ryan_whr 25:7155cb993870 17 public:
szh66 27:b980fce784ea 18 unsigned char x, y;
szh66 27:b980fce784ea 19 unsigned char dist;
szh66 27:b980fce784ea 20 bool top_wall, right_wall;
szh66 27:b980fce784ea 21 Cell(unsigned char x, unsigned char y, unsigned char dist) :
szh66 27:b980fce784ea 22 x(x), y(y), dist(dist) {
szh66 27:b980fce784ea 23 top_wall = right_wall = false;
szh66 27:b980fce784ea 24 }
szh66 27:b980fce784ea 25 Cell(unsigned char x, unsigned char y, bool top_wall, bool right_wall)
szh66 27:b980fce784ea 26 : x(x), y(y), top_wall(top_wall), right_wall(right_wall) {}
ryan_whr 25:7155cb993870 27 };
ryan_whr 25:7155cb993870 28
szh66 27:b980fce784ea 29 class Maze {
szh66 27:b980fce784ea 30 public:
szh66 27:b980fce784ea 31 Maze();
ryan_whr 25:7155cb993870 32
szh66 27:b980fce784ea 33 ~Maze() {};
ryan_whr 25:7155cb993870 34
szh66 27:b980fce784ea 35 unsigned char manhattan_dist(unsigned char x1, unsigned char x2, unsigned char y1, unsigned char y2);
ryan_whr 25:7155cb993870 36
szh66 27:b980fce784ea 37 unsigned char min4(unsigned char a, unsigned char b, unsigned char c, unsigned char d);
ryan_whr 25:7155cb993870 38
szh66 27:b980fce784ea 39 bool is_center(unsigned char x, unsigned char y);
ryan_whr 25:7155cb993870 40
szh66 27:b980fce784ea 41 void print_maze(int x, int y, int dir);
ryan_whr 25:7155cb993870 42
szh66 27:b980fce784ea 43 void print_maze();
ryan_whr 25:7155cb993870 44
szh66 27:b980fce784ea 45 void print_mouse(int dir);
ryan_whr 25:7155cb993870 46
szh66 27:b980fce784ea 47 void move();
ryan_whr 25:7155cb993870 48
szh66 27:b980fce784ea 49 void load_maze(string file_name);
ryan_whr 25:7155cb993870 50
szh66 27:b980fce784ea 51 Cell * maze[MAZE_SIZE][MAZE_SIZE];
ryan_whr 25:7155cb993870 52 };
ryan_whr 25:7155cb993870 53
szh66 27:b980fce784ea 54 class Mouse {
szh66 27:b980fce784ea 55 public:
szh66 27:b980fce784ea 56 unsigned char direction, next_cell_dir, prev_mouse_dir;
szh66 27:b980fce784ea 57 //the current position of Mouse, should be identical to the Cell'x and y
szh66 27:b980fce784ea 58 unsigned char mouse_x, mouse_y;
szh66 27:b980fce784ea 59 // the previous direction, the previous direction is open by default
szh66 27:b980fce784ea 60 unsigned char prev;
szh66 27:b980fce784ea 61 bool north_open, south_open, east_open, west_open;
szh66 27:b980fce784ea 62 bool front_sensor, left_sensor, right_sensor;
szh66 27:b980fce784ea 63 Maze * detected_maze;
szh66 27:b980fce784ea 64 std::vector <Cell*> stk; //vc was used as a stack to update the distance
ryan_whr 25:7155cb993870 65
szh66 27:b980fce784ea 66 Mouse( DriveControl * driver);
ryan_whr 25:7155cb993870 67
szh66 27:b980fce784ea 68 ~Mouse() {
szh66 27:b980fce784ea 69 for (int i = 0; i < MAZE_SIZE; i++) {
szh66 27:b980fce784ea 70 // delete [] *maze[i];
szh66 27:b980fce784ea 71 for (int j = 0; j < MAZE_SIZE; j++) {
szh66 27:b980fce784ea 72 delete detected_maze->maze[i][j];
szh66 27:b980fce784ea 73 }
szh66 27:b980fce784ea 74 }
szh66 27:b980fce784ea 75 delete detected_maze;
szh66 27:b980fce784ea 76 };
ryan_whr 25:7155cb993870 77
szh66 27:b980fce784ea 78 void set_direction(unsigned char dir);
szh66 27:b980fce784ea 79
szh66 27:b980fce784ea 80 unsigned char get_direction();
szh66 27:b980fce784ea 81
szh66 27:b980fce784ea 82 bool get_front_sensor_value(); //read the value from the front sensor and will update the wall properly
ryan_whr 25:7155cb993870 83
szh66 27:b980fce784ea 84 bool get_left_sensor_value(); //read the value from the left sensor and will update the wall properly
ryan_whr 25:7155cb993870 85
szh66 27:b980fce784ea 86 bool get_right_sensor_value(); //read the value from the right sensor and will update the wall properly
ryan_whr 25:7155cb993870 87
szh66 27:b980fce784ea 88 bool can_move();
ryan_whr 25:7155cb993870 89
szh66 27:b980fce784ea 90 void update_distance();
ryan_whr 25:7155cb993870 91
szh66 27:b980fce784ea 92 unsigned char min_open_neighbor(vector<Cell*> cells);
ryan_whr 25:7155cb993870 93
szh66 27:b980fce784ea 94 void check_open_neighbor();
ryan_whr 25:7155cb993870 95
szh66 27:b980fce784ea 96 int solve_maze();
szh66 27:b980fce784ea 97
szh66 27:b980fce784ea 98 bool center_found();
kolanery 30:daf286ac049f 99
kolanery 30:daf286ac049f 100 void clear_stack();
kolanery 30:daf286ac049f 101
kolanery 30:daf286ac049f 102 bool can_reset_mouse;
kolanery 31:f7a8a9b82bc1 103
kolanery 31:f7a8a9b82bc1 104 bool is_center;
ryan_whr 25:7155cb993870 105
szh66 27:b980fce784ea 106 void move_one_cell();
kolanery 28:600932142201 107
kolanery 28:600932142201 108 int get_prev_direction();
kolanery 28:600932142201 109
kolanery 28:600932142201 110 int get_next_cell_direction();
ryan_whr 25:7155cb993870 111
szh66 27:b980fce784ea 112 };